The content of the invention
The technical problems to be solved by the invention are to provide a kind of control system and method for toilet paper packing machine, energyEnough improve packaging efficiency.
The technical solution adopted by the present invention to solve the technical problems is：A kind of control for toilet paper packing machine is providedSystem, including controller, temperature control modules, servo-driver and sensor, the controller include servo drive control listMember, data processing unit, receive sampling unit and temperature control unit, and the reception sampling unit is by I/O module to sensorSampled；The data processing unit is used to carry out data processing to the result of sampling；The servo drive control unit rootControl is synchronized to servo-driver using EtherCAT agreements according to the result for receiving data processing；The temperature control unitThe temperature control modules are controlled using serial ports according to the result of data processing.
The control system further includes frequency converter, and the controller further includes frequency conversion control unit；The frequency control listMember frequency converter according to the result of data processing using CANopen protocol integrated test systems controls the low axis of dynamic response requirement.
The data processing unit includes virtual main shaft generation unit and virtual Spindle control unit；The virtual main shaft lifeIt is used for the virtual main shaft for simulating an operation into unit；The bag that the virtual Spindle control unit is obtained according to sampling unit is receivedThe speed of service control virtual main shaft of installation and the speed of service of packing machine are consistent；The servo drive control unitThe position of virtual main shaft is followed with all axis of frequency converter control unit control packing machine so that keep with the position of virtual main shaftIt is synchronous, wherein, the run unit of virtual main shaft is set to the cycle, and unit all normalizeds of all axis are the cycle.
The sensor is the photoelectric sensor for detecting paper ball position, and the photoelectric sensor is installed on feeding-passageConveyer belt on, when the reception sampling unit receives the photoelectric sensor and persistently receives signal, the data processing listMember judges occur paper ball accumulation in feed conveyor belt；The servo drive control unit control is used for the servo for driving conveyer beltDriver accelerates speed；It is described when the reception sampling unit receives the photoelectric sensor and receives the frequencies go lower of signalData processing unit judges that the paper ball in feed conveyor belt is rare；The servo drive control unit control is used to drive transmissionThe servo-driver of band reduces speed.
The sensor is electronic ruler, and the sampling to Tensity size is completed in the position of the electronic ruler feedback tension force swing rod；The Tensity size for receiving sampling unit and receiving electronic ruler；The data processing unit calculates control according to Tensity sizeThe deviation of speed increment；The frequency conversion control unit is controlled according to deviation pair with the frequency converter that tension force swing rod is connected.
The sensor be for detecting the photoelectric sensor of paper ball position and contactor for detecting axis back to zero, it is describedPhotoelectric sensor is installed on receives the photoelectric sensor and the contact in the front end of projection mechanism, the reception sampling unitThe sampled result of device；The data processing unit judges whether to meet that paper ball position does not exist in front end and push rod according to sampled resultBelow paper ball；The servo drive control unit controls the servo-drive for driving projection mechanism when judging result is to meetDevice is projected.
The sensor is color mark sensor, and the color mark sensor is used to detect the equidistant color left during packaging film printingPunctuate；The sampled result for receiving sampling unit and receiving color mark sensor；The data processing unit is according to equidistant colour codePoint calculates absolute position and length and determines the position of cutter point；The servo drive control unit is controlled according to the position of cutter pointThe servo-driver being connected with cutter is made to be cut.
The technical solution adopted by the present invention to solve the technical problems is：Also offer one kind is above-mentioned is used for toilet paper packing machineControl system control method, realize that each axis follows using virtual main shaft；Paper ball in-position is judged using photoelectric sensor,Situation is accumulated according to paper ball to determine machine transfer rate；The tension force that feedback film is measured using tension force swing rod realizes closed-loop tension controlSystem；According to photoelectric sensor judge paper ball projection mechanism position and push rod position, so as to carry out projection paper ball；According to thinFilm color mark sensor feedback correction film is long and the cusp position of definite cutter.
Above-mentioned control method is further included is specially using the method control air blowing of the point position imaginary axis：The numeral blown will be controlledOutput point position is treated as an axis, its folding follows the phase angle of virtual main shaft, is opened at a phase angle, in another phaseParallactic angle is closed, and is the time persistently blown between two phase angles.
Above-mentioned control method is further included using more cam simultaneous techniques, specifically, setting each crown of roll wheel shaft and virtual masterThe corresponding cam curve of axis so that each axis is accomplished to balance between acceleration and maximal rate.
Beneficial effect
As a result of above-mentioned technical solution, compared with prior art, the present invention having the following advantages that and actively imitatingFruit：The present invention ensure that the harmonious of each axis operation using the method that virtual main shaft and each axis follow, without axis occursMechanical impacts and coordination between axis are unreasonable；Coating is set only to be attached to paper ball using the method control air blowing of a position imaginary axisBoth ends；Paper ball in-position is judged using photoelectric sensor, situation is accumulated according to paper ball to determine the side of machine lifting speedMethod improves packaging efficiency；The tension force of feedback film is measured using tension force swing rod so as to reach the closed-loop control to membrane tension；AdoptCutter cusp position is determined with being fed back according to film color mark sensor, eliminates error.
Embodiment
With reference to specific embodiment, the present invention is further explained.It is to be understood that these embodiments are merely to illustrate the present inventionRather than limit the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, people in the artMember can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limitedScope.
Embodiments of the present invention are related to a kind of control system for toilet paper packing machine, as shown in Figure 1, including controlDevice, temperature control modules, frequency converter, servo-driver and sensor, the controller drive servo by EtherCAT agreementsDynamic device synchronizes control, controls the low axis of dynamic response requirement by CANopen protocol integrated test systems frequency converter, passes through I/O moduleSensor is sampled, the temperature control modules are controlled by RS485.The controller is also associated with man-machine boundaryFace, the man-machine interface are used to show the operating status of all axis, the point position state of I/O module and the operating status of packing machine, profitAll parameters of machine can also be set with the man-machine interface, the information of write-in packaging product can be operated on screen, setting addsThe operation such as temperature of heat, and can select to carry out paper ball single bag or more bag packagings.
As shown in Fig. 2, the controller includes servo drive control unit, frequency conversion control unit, data processing unit, connectsSampling unit and temperature control unit are received, the reception sampling unit samples sensor by I/O module；The dataProcessing unit is used to carry out data processing to the result of sampling；The servo drive control unit is according to the knot for receiving data processingFruit synchronizes servo-driver control using EtherCAT agreements；The frequency conversion control unit is according to the result of data processingThe low axis of dynamic response requirement is controlled using CANopen protocol integrated test systems frequency converter；The temperature control unit according to data atThe result of reason is controlled the temperature control modules using serial ports.
Wherein, the data processing unit includes virtual main shaft generation unit and virtual Spindle control unit；It is described virtualMain shaft generation unit is used for the virtual main shaft for simulating an operation；The virtual Spindle control unit is obtained according to sampling unit is receivedThe speed of service control virtual main shaft of the packing machine taken and the speed of service of packing machine are consistent；The servo-drive controlAll axis of unit and frequency converter control unit control packing machine processed follow the position of virtual main shaft so that the position with virtual main shaftIt is synchronous to put holding, wherein, the run unit of virtual main shaft is set to the cycle, and unit all normalizeds of all axis are the cycle.
The sensor includes being used for the photoelectric sensor, the contactor for detecting axis back to zero, use for detecting paper ball positionColor mark sensor in coating color spot graph, the electronic ruler for measuring coating tension force.Can will be all kinds of using the sensorInformation feeds back to controller.
When sensor is the photoelectric sensor for detecting paper ball position, the photoelectric sensor is installed on feeding-passageConveyer belt on, when the reception sampling unit receives the photoelectric sensor and persistently receives signal, the data processing listMember judges occur paper ball accumulation in feed conveyor belt；The servo drive control unit control is used for the servo for driving conveyer beltDriver accelerates speed；It is described when the reception sampling unit receives the photoelectric sensor and receives the frequencies go lower of signalData processing unit judges that the paper ball in feed conveyor belt is rare；The servo drive control unit control is used to drive transmissionThe servo-driver of band reduces speed.
When sensor is electronic ruler, the sampling to Tensity size is completed in the position of the electronic ruler feedback tension force swing rod；The Tensity size for receiving sampling unit and receiving electronic ruler；The data processing unit calculates control according to Tensity sizeThe deviation of speed increment；The frequency conversion control unit is controlled according to deviation pair with the frequency converter that tension force swing rod is connected.
It is described when sensor is for detecting the photoelectric sensor of paper ball position and contactor for detecting axis back to zeroPhotoelectric sensor is installed on receives the photoelectric sensor and the contact in the front end of projection mechanism, the reception sampling unitThe sampled result of device；The data processing unit judges whether to meet that paper ball position does not exist in front end and push rod according to sampled resultBelow paper ball；The servo drive control unit controls the servo-drive for driving projection mechanism when judging result is to meetDevice is projected.
When sensor is color mark sensor, the color mark sensor is used to detect the equidistant color left during packaging film printingPunctuate；The sampled result for receiving sampling unit and receiving color mark sensor；The data processing unit is according to equidistant colour codePoint calculates absolute position and length and determines the position of cutter point；The servo drive control unit is controlled according to the position of cutter pointThe servo-driver being connected with cutter is made to be cut.
It is noted that can there was only a kind of above-mentioned sensor in this control system, it is possibility to have above-mentioned a variety of sensingsDevice is combined so as to complete more many control.
Motion controller and touch screen human-computer interface use TCP/IP communication, film length that the data of customization are set andAll configuration parameters are transferred in controller, change controller inner parameter, while the status information that controller is produced is shownOnto touch-screen, as alarm code, I O point position state, packing machine working status are all shown on touch-screen.
Motion controller is communicated by RS485 with temperature control modules, and set temperature parameter can read on the touchscreenMotion controller is written on temperature control module, while the temperature data of temperature control module also can be shown to touch-screen by controllerOn.
Motion controller is realized with each sensor with extension I/O module by EtherCAT and connected, and utilizes EtherCAT'sHigh speed characteristics, timely obtain the information of all the sensors and the information of control point position.Pass through some letters of IO output controls at the same timeNumber output.
Motion controller is communicated by CANopen with frequency converter, since the response speed of frequency converter is without driver height, instituteThe control implemented with that can be communicated by CANopen with frequency converter to induction machine, reduces cost.
Motion controller is controlled by EtherCAT and motor servo driver, and the EtherCAT of high speed disclosure satisfy thatMore cams, the height of multi-axial Simultaneous are corresponding, the requirement of high speed, high position precision.
Fig. 3 is the operating diagram of the present invention.
Hygienic paper ball packing machine can be to be divided into：Feeding part A, film feeding part B and packaged unit C.
Feeding part A, is responsible for accepting the paper ball of paper ball production line production, but be responsible for paper ball be sequentially placed into packaged unit intoRow packaging.It can be divided into the first feeding belt (undertaking), the second feeding belt (paper ball is piled with projection mechanism), projection mechanism againPaper ball (is put into ejecting mechanism) by (launching paper ball successively), transfer bar mechanism.
Film feeding part B, is responsible for cutting film and being put into packaged unit.It can be divided into unreeling structure (coiled film againRelease open), film feeding mechanism (membrane, film from greatly roll up in pull out, the Position And Velocity of the advance of major control film), cutterMechanism (being responsible for cutting film, film is cut into one by one as requested) and Fen Mo mechanisms (are responsible for the film cut to be taped against packing departmentOn the ejecting mechanism divided).
Packaged unit C, is responsible for paper ball bag into the film cut.It can be divided into again ejection part (paper ball is jacked up upwards,In the process due to film just locating with paper ball above, i.e., film has been wrapped in paper ball), edge-folding mechanism (film tightly with paper ballParcel, and the side doubling of film together), (it is the delivery chain of the paper ball of wrap film to top chain, it has teeth groove, toothGroove can hold the paper ball after coating, and ejecting mechanism heads into paper ball in teeth groove, and paper ball is transported to blowing by top chain, bottom is scaldedAnd side seal), inflatable body (two gas blow pipes, using the wind pressure of gas the film outside paper ball rear and front end close to the both ends of paper ballFace), side seal mechanism (using the boiling hot piece of a heating, to the film of paper ball side iron boiling hot, seal side) and bottom ironing mechanism (bottomThe conveyer belt using two heating is scalded, the film to paper ball both ends of the surface irons the film that both ends of the surface are lived in seal, and paper ball is transferred out machineDevice).
The control method of the above-mentioned control system for toilet paper packing machine, including virtual main shaft is used, what each axis followedMethod；Controlled and blown using the method for a position imaginary axis；Paper ball in-position is judged using photoelectric sensor, is accumulated according to paper ballSituation determines the method for machine lifting speed；The tension force of feedback film, closed-loop tension control are measured using tension force swing rod；Can be to twoBar conveyer belt carries out switching manipulation；Judge that paper ball is thrown in the position of the position of projection mechanism and push rod according to photoelectric sensorPenetrate paper ball；Fed back according to film color mark sensor, correction film is long and the cusp position of definite cutter；More cam simultaneous techniques.
Virtual main shaft in the toilet paper packing machine control method, the method that each axis follows：Used inside controllerSoftware simulates the virtual main shaft of an operation, it is consistent with the speed of service of machine, and other all axis follow the position of virtual main shaftPut, synchronous with the position holding of virtual main shaft, the run unit of virtual main shaft is the cycle, and the axis of other operations is equally normalizedHandle as the cycle, the speed of service of so all axis is all every point of cycle.Each axis each position is synchronous with virtual main shaft, i.e., each axisPeriod position point it is synchronous with virtual main shaft, the harmonious of each axis operation is so ensured that, without axis and axis occursBetween mechanical impacts and coordinate it is unreasonable.
The method control air blowing method with the point position imaginary axis in the toilet paper packing machine control method：This is controlledThe numeral output point position (DO) that system is blown is treated as an axis, its folding follows the phase angle of virtual main shaft, in a phaseParallactic angle is opened, and is closed at another phase angle, is the time that it is persistently blown between two phase angles, as speed increases, its frequencyRate also increases naturally.Air blowing is that coating inward at both ends is blown, and coating is only attached to the both ends of paper ball.
Paper ball in-position is judged using photoelectric sensor in the toilet paper packing machine control method, according to paper ball heapCumuliformis condition determines the method for machine lifting speed：Photoelectric sensor is installed on the conveyer belt of feeding-passage, due to photoelectricitySensor, which receives signal i.e. proof, paper ball entrance, and paper ball is transported in conveyer belt operation, if photoelectric sensor persistently receives letterNumber, it was demonstrated that there is accumulation in feed conveyor belt in paper ball, and packaging speed starts to raise speed, if photoelectric sensor receives the frequency of signalRate is lower, then proves that paper ball is rare, then reduces packaging speed automatically, or even stop.
The tension force that feedback film is measured using tension force swing rod in the toilet paper packing machine control method, closed-loop tension controlMethod：Unreeling speed and must be kept by Frequency Converter Control, its tension force due to packaging film, will accomplish ripple when controlling membrane tensionDynamic minimum, adjustment are fine；Using a tension force swing rod, with the position of electronic ruler feedback tension force swing rod can to Tensity size intoRow sampling；For its sampled data feedback in controller, controller does instruction feedback closed-loop control, and speed is controlled according to feedback deviationIncrement deviation reaches the closed-loop control to tension force swing rod, so as to reach the closed-loop control to membrane tension.
The method that use in the toilet paper packing machine control method can carry out two conveyer belts switching manipulation：SetPutting wherein any one projection axis work can enable or close, can be individually to a producing line so in an only producing lineProduct packaging on product rather than two producing lines, also can Close All are used for working when debugging, will so save energy.
Use in the toilet paper packing machine control method judges paper ball in the position of projection mechanism according to photoelectric sensorPut, and the position of push rod carries out projection paper ball method：I.e. photoelectric sensor is mounted in the front end of projection mechanism, when photoelectric sensor is visitedPaper ball position is measured at front end, projection mechanism one paper ball of forward projects, its opportunity projected depends on the current position of push rodPut, when its projection, push rod does not cause to install below paper ball, so requires the period position that projection mechanism starts projection to refer toThe position of virtual main shaft, and when photoelectric sensor is judged as paper ball two conditions all meet in place, start to project.
Use in the toilet paper packing machine control method is fed back according to film color mark sensor, and correction film is long and definiteThe method of the cusp position of cutter：Due to using circle roller compress film operation the kind of drive, membrane axis unavoidably with it is thinOpposite slip occurs for film, thus needs to correct membrane into row position and film length；What is left when being printed using packaging film is equidistantColor punctuation carries out closed-loop control, determines cutter cusp position, eliminate error as absolute position and length feedback.
The method using more cam simultaneous techniques in the toilet paper packing machine control method：Due to toilet paper packing machineMany axis servomotors must walk cam operation, and (cutter cam is run, its linear velocity near point of contact is synchronous with the linear velocity of film；Push awayBar walk cam movement, it is necessary to project mechanism throw paper ball when reserve reduce when paper ball is being put into ejecting mechanism by time enough whenBetween, reduce ejecting mechanism in the bottom stand-by period；Ejecting mechanism cam is run, and is to be waited in bottom, is allowed paper ball canEjecting mechanism is pushed into by push rod to smoothly enter；Top chain cam operation, is to stop waiting in ejecting mechanism upper endEjecting mechanism heads into the paper ball of coating in the card slot of top chain；The cam operation of Fen Mo mechanisms cuts through to obtain film handle to tearFilm one by one be placed into ejecting mechanism upper end), this requires to set each crown of roll wheel shaft corresponding with virtual main shaft convexCurve is taken turns, acceleration change is considered, plan curve, accomplish to balance between acceleration and maximal rate.